eqep2 problemss

[cesare....@gmail.com]

Dear,

I'm struggling with eqep2 on BBB, After one week of attempts nothing works...

Here my situation:

- I compiled this dts file (generating bone_eqep2-new-00A0.dtbo):

/dts-v1/;

/plugin/;

#include <dt-bindings/board/am335x-bbw-bbb-base.h>

#include <dt-bindings/gpio/gpio.h>

#include <dt-bindings/pinctrl/am33xx.h>

/ {

compatible = "ti,beaglebone", "ti,beaglebone-black";

// identification

part-number = "bone_eqep2b";

version     = "00A0";

// resources this cape uses

exclusive-use =

"P8.12", // EQEP2A_in

"P8.11", // EQEP2B_in

"P8.16", // EQEP2_index

"P8.15", // EQEP2_strobe

"eqep2"; // hardware ip used

/*

* Helper to show loaded overlays under: /proc/device-tree/chosen/overlays/

*/

fragment@0 {

target-path="/";

__overlay__ {

chosen {

overlays {

bone_eqep2b-00A0 = __TIMESTAMP__;

};

};

};

};

/*

* Free up the pins used by the cape from the pinmux helpers.

*/

fragment@1 {

target = <&ocp>;

__overlay__ {

P8_12_pinmux { status = "disabled"; }; /* P8_12: GPIO1_12 = EQEP2A_in */

P8_11_pinmux { status = "disabled"; }; /* P8_11: GPIO1_13 = EQEP2B_in */

P8_16_pinmux { status = "disabled"; }; /* P8_16: GPIO1_14 = EQEP2_index */

P8_15_pinmux { status = "disabled"; }; /* P8_15: GPIO1_15 = EQEP2_strobe */

};

};

fragment@2 {

target = <&am33xx_pinmux>;

__overlay__ {

pinctrl_eqep2: pinctrl_eqep2_pins {

pinctrl-single,pins = <

BONE_P8_12 (PIN_INPUT_PULLUP | MUX_MODE4) /* P8_12: GPIO1_12 = EQEP2A_in */

BONE_P8_11 (PIN_INPUT_PULLUP | MUX_MODE4) /* P8_11: GPIO1_13 = EQEP2B_in */

BONE_P8_16 (PIN_INPUT | MUX_MODE4) /* P8_16: GPIO1_14 = EQEP2_index */

BONE_P8_15 (PIN_INPUT | MUX_MODE4) /* P8_15: GPIO1_15 = EQEP2_strobe */

// From: https://groups.google.com/forum/#!searchin/beagleboard/eQep/beagleboard/Orp3tFcNgCc/mYacP_GkCQQJ

>;

};

};

};

fragment@3 {

target = <&epwmss2>;

__overlay__ {

status = "okay";

};

};

fragment@4 {

target = <&eqep2>;

__overlay__ {

pinctrl-names = "default";

pinctrl-0 = <&pinctrl_eqep2>;

count_mode = <0>; // count_mode is not userspace op_mode

// 0 -> Quadrature mode, normal 90 phase offset cha & chb.

// 1 -> Direction mode.  cha input = clock, chb input = direction

// 2 -> UP count mode for frequency measurement QDIR=1, ignore direction input

// 3 -> DOWN count mode for frequency measurement QDIR=0, ignore direction input

swap_inputs = <0>; // swap channel A and B? (0 - no, 1 - yes)

invert_qa = <0>; // invert channel A input?

invert_qb = <0>; // invert channel B input?

invert_qi = <0>; // invert index input?

invert_qs = <0>; // invert strobe input?

omit_interrupt = <0>; // 1 -> do not install interrupt handler, 0 -> do install

status = "okay";

};

};

};

- Moved file to /lib/firmware

- Modified /boot/uEnv.txt:

 

#Docs: http://elinux.org/Beagleboard:U-boot_partitioning_layout_2.0

enable_uboot_overlays=1

enable_uboot_cape_universal=1

disable_uboot_overlay_video=1

uname_r=4.14.108-ti-r127

#uuid=

#dtb=

cmdline=coherent_pool=1M net.ifnames=0 rng_core.default_quality=100 quiet

#In the event of edid real failures, uncomment this next line:

#cmdline=coherent_pool=1M net.ifnames=0 rng_core.default_quality=100 quiet video=HDMI-A-1:1024x768@60e

#Use an overlayfs on top of a read-only root filesystem:

#cmdline=coherent_pool=1M net.ifnames=0 rng_core.default_quality=100 quiet overlayroot=tmpfs

##enable x15: eMMC Flasher:

##make sure, these tools are installed: dosfstools rsync

#cmdline=init=/opt/scripts/tools/eMMC/init-eMMC-flasher-v3-no-eeprom.sh

#uboot_overlay_addr0=/lib/firmware/PRU_BlinkLed-00A0.dtbo

uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo

uboot_overlay_eqep2=/lib/firmware/bone_eqep2-new-00A0.dtbo

- Reboot BBB

- cd /sys/devices/platform/ocp/48304000.epwmss/48304180.eqeps

- cat enabled --> 1

- cat mode --> 0

- cat position --> 0

- Connnect the encoder.

- cat position --> 0 ALWAYS

- /opt/scripts/tool/version.sh:

git:/opt/scripts/:[e457c010efc76c4e6fecccb7a5f7ff9b0597c4c0]

eeprom:[A335BNLT00C01020BBBK2003]

model:[TI_AM335x_BeagleBone_Black]

dogtag:[BeagleBoard.org Debian Image 2020-02-01]

bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot 2018.09-00002-g0b54a51eee]:[location: dd MBR]

UBOOT: Booted Device-Tree:[am335x-boneblack-uboot-univ.dts]

UBOOT: Loaded Overlay:[AM335X-PRU-UIO-00A0]

UBOOT: Loaded Overlay:[BB-ADC-00A0]

UBOOT: Loaded Overlay:[BB-BONE-eMMC1-01-00A0]

kernel:[4.14.108-ti-r127]

nodejs:[v6.17.0]

/boot/uEnv.txt Settings:

uboot_overlay_options:[enable_uboot_overlays=1]

uboot_overlay_options:[enable_uboot_cape_universal=1]

uboot_overlay_options:[disable_uboot_overlay_video=1]

uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo]

uboot_overlay_options:[uboot_overlay_eqep2=/lib/firmware/bone_eqep2-new-00A0.dtbo]

pkg check: to individually upgrade run: [sudo apt install --only-upgrade <pkg>]

pkg:[bb-cape-overlays]:[4.14.20200430.0-0~stretch+20200430]

pkg:[bb-wl18xx-firmware]:[1.20190227.1-0rcnee0~stretch+20190227]

pkg:[kmod]:[23-2rcnee1~stretch+20171005]

pkg:[librobotcontrol]:[1.0.4-git20190227.1-0rcnee0~stretch+20190327]

pkg:[firmware-ti-connectivity]:[20180825+dfsg-1rcnee1~stretch+20181217]

groups:[debian : debian adm kmem dialout cdrom floppy audio dip video plugdev users systemd-journal i2c bluetooth netdev gpio pwm eqep remoteproc admin spi iio docker tisdk weston-launch xenomai cloud9ide]

cmdline:[console=ttyO0,115200n8 bone_capemgr.uboot_capemgr_enabled=1 root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M net.ifnames=0 rng_core.default_quality=100 quiet]

dmesg | grep remote

[    1.306013] remoteproc remoteproc0: wkup_m3 is available

[    1.394865] remoteproc remoteproc0: powering up wkup_m3

[    1.394975] remoteproc remoteproc0: Booting fw image am335x-pm-firmware.elf, size 217168

[    1.399517] remoteproc remoteproc0: remote processor wkup_m3 is now up

dmesg | grep pru

dmesg | grep pinctrl-single

[    0.948952] pinctrl-single 44e10800.pinmux: 142 pins at pa f9e10800 size 568

dmesg | grep gpio-of-helper

[    0.961540] gpio-of-helper ocp:cape-universal: ready

lsusb

Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

END

- dmesg doesn't give any info regarding the overlay.

- I don't know where I'm wrong.

Let me know if you can help me.

Regards.

[Robert Nelson]

> #uboot_overlay_addr0=/lib/firmware/PRU_BlinkLed-00A0.dtbo
> uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo
>
>
> uboot_overlay_eqep2=/lib/firmware/bone_eqep2-new-00A0.dtbo

We aren't that fancy ^ just use:

uboot_overlay_addr0=/lib/firmware/bone_eqep2-new-00A0.dtbo

Regards,


--
Robert Nelson
https://rcn-ee.com/

[cesare....@gmail.com]

Thanks Robert for your quick reply.

I tried changing from uboot_overlay_eqep2 to uboot_overlay_addr0 but nothing happened.

Eqep2 is still not counting.

I checked the messages from 'version.h' and there is something strange (to me...):

...

uboot_overlay_options:[uboot_overlay_addr0=/lib/firmware/bone_eqep2-new-00A0.dtbo]

pkg check: to individually upgrade run: [sudo apt install --only-upgrade <pkg>]

... 

Same message when I was using uboot_overlay_eqep2=/lib/firmware/bone_eqep2-new-00A0.dtbo

I tried changing uEnv.txt to 

uboot_overlay_addr0=/lib/firmware/bone_eqep21-new-00A0.dtbo 

File ...eqep21... doesn't exist. After reboot I had the same message from 'version.h':

uboot_overlay_options:[uboot_overlay_addr0=/lib/firmware/bone_eqep21-new-00A0.dtbo]

pkg check: to individually upgrade run: [sudo apt install --only-upgrade <pkg>]

Could it be a problem?

Is there something else I can check?

Regards.

[TJF]

Am Samstag, 6. Juni 2020 09:49:59 UTC+2 schrieb cesare....@gmail.com:

Is there something else I can check?

Sure, check out libpruio. Easy controlling of QEP modules in one, two or three line configurations (without any device tree trouble).

Regards